柏海舰｜合肥工业大学｜学者主页

2026

A State-Degradation-Risk-Embedded Sliding Mode Perimeter Control Considering State Transition for Regional Road Networks Under Cyberattacks

Heng Ding, Ruichun Zeng, Nan Zheng, Xiaoyan Zheng, Haijian Bai, Chaoqun Hou

Transportation Research Part C Emerging Technologies

DOI

2026

A Multiobjective Dynamic Weight Allocation Model for Lane-Level VSL Control Using Deep Reinforcement Learning in Mixed Traffic

Heng Ding, Lingzhi Chen, Wei Ma, Xiaoyan Zheng, Haijian Bai

Journal of Transportation Engineering Part A Systems

DOI

2026

Impact of roadside facility layout on network traffic flow in vehicle-infrastructure cooperation environments: An analysis based on macroscopic fundamental diagram model

Heng Ding, Qiaoxia Wang, Zhengrui Zhao, Dudu Guo, Qiong Lu, Haijian Bai, Wenjuan Huang

Physica A Statistical Mechanics and its Applications

DOI

2025

A Path-Following-Based CAV Motion Planning Framework for Unified Description of Car-Following and Lane-Changing

Haijian Bai, Hao Cheng, Weihua Zhang, Xingyu Chen, Wenjuan Huang

IEEE Internet of Things Journal

DOI

2025

DGLF-MPF: a destination-guided motion planning framework for autonomous vehicles in lane-free traffic

Xingyu Chen, Weihua Zhang, Haijian Bai, Feng Zhu, Heng Ding, Xinxin Ma

Transportation Research Part C Emerging Technologies

DOI

2025

The revolution of roundabouts in the autonomous driving era: A lane-free self-organized motion planning framework

Xingyu Chen, Weihua Zhang, Haijian Bai, Feng Zhu, Heng Ding, Liangwen Wang

Advanced Engineering Informatics

DOI

2025

LM-IDM: A novel multi-lane car-following model considering lateral merging in mixed traffic

Liyang Wei, Weihua Zhang, Haijian Bai, Heng Ding, Xingyu Chen, Xinxin Ma

Physica A Statistical Mechanics and its Applications

DOI

2025

A cooperative lane-changing control method for connected and autonomous vehicles in expressway diversion area considering dedicated lanes

Weihua Zhang, Huanyu Ding, Huanyu Ding, Taifeng Ni, Huiting Chen, Heng Ding, Heng Ding, Changsheng Wang, Xingyu Chen, Haijian Bai

Journal of Intelligent Transportation Systems

DOI

2024

基于轨迹重构数据的不同反应时间跟驰模型

耿志军，程陆，李阳，柏海舰，汪雪松

《兰州工业学院学报》

2024

基于LSTM的跟驰车辆反应时间预测模型

耿志军，程陆，李舟洋，柏海舰，汪雪松

《石河子科技》

2024

LFF: An attention allocation-based following behavior framework in lane-free environments

Xingyu Chen, Weihua Zhang, Haijian Bai, Heng Ding, Mengfan Li, Wenjuan Huang

Transportation Research Part C Emerging Technologies

DOI

2024

A Sigmoid-Based Car-Following Model to Improve Acceleration Stability in Traffic Oscillation and Following Failure in Free Flow

Xingyu Chen, Weihua Zhang, Haijian Bai, Rui Jiang, Heng Ding, Liyang Wei

IEEE Transactions on Intelligent Transportation Systems

DOI

2024

2D‐Action Asynchronous Cooperative Lane Change Trajectory Planning Method for Connected and Automated Vehicles

Liyang Wei, Weihua Zhang, Haijian Bai, Jingyu Li

Journal of Advanced Transportation

DOI

2023

基于长短期记忆神经网络与注意力机制的智能汽车分车型跟驰模型

柏海舰，孙婷，丁恒，王昌胜，陈星宇，过晨晨，李亚

《汽车工程学报》

2023

SPATIAL PARTITION FOR HETEROGENEOUS CITY NETWORKS COMPOSED OF FACTORS THAT INFLUENCE THE DISTRIBUTION OF THE MACROSCOPIC FUNDAMENTAL DIAGRAM

Heng Ding, Hanyu Yuan, Xiaoyan Zheng, Hanyue Ma, Haijian Bai

Transport

DOI

2023

Two-Dimensional Following Lane-Changing (2DF-LC): A Framework for Dynamic Decision-Making and Rapid Behavior Planning

Xingyu Chen, Weihua Zhang, Haijian Bai, Can Xu, Heng Ding, Wenjuan Huang

IEEE Transactions on Intelligent Vehicles

DOI

2023

A Superposition Assessment Framework of Multi-Source Traffic Risks for Mega-Events Using Risk Field Model and Time-Series Generative Adversarial Networks

Zeyang Cheng, Jian John Lu, Heng Ding, Yunxuan Li, Haijian Bai, Weihua Zhang

IEEE Transactions on Intelligent Transportation Systems

DOI

2023

A Safety Control Method of Car-Following Trajectory Planning Based on LSTM

Xingyu Chen, Haijian Bai, Heng Ding, Jianshe Gao, Wenjuan Huang

PROMET - Traffic&Transportation

DOI

2022

Modeling differential car-following behavior under normal and rainy conditions: A memory-based deep learning method with attention mechanism

Haijian Bai, Chenchen Guo, Heng Ding, Liyang Wei, Ting Sun, Xing-Yu Chen

Chinese Physics B

DOI

2022

Integrated Control for Mixed CAV and CV Traffic Flow in Expressway Merge Zones Combined with Variable Speed Limit, Ramp Metering, and Lane Changing

Yunran Di, Weihua Zhang, Heng Ding, Xiaoyan Zheng, Haijian Bai

Journal of Transportation Engineering Part A Systems

DOI

2022

Micro-Path Planning for Lane-Changing Return of Autonomous Vehicles

LI Ya, Haijian Bai, Yinan Zhao, HuiWen Liu

CICTP 2022

DOI

2022

Dynamic dispatch of connected taxis for large-scale urban road networks with stochastic demands: An MFD-enabled hierarchical and cooperative approach

Heng Ding, Jiye Li, Nan Zheng, Xiaoyan Zheng, Wenjuan Huang, Haijian Bai

Transportation Research Part C Emerging Technologies

DOI

2022

Driving strategy of connected and autonomous vehicles based on multiple preceding vehicles state estimation in mixed vehicular traffic

Heng Ding, Hao Pan, Haijian Bai, Xiaoyan Zheng, Jin Chen, Weihua Zhang

Physica A Statistical Mechanics and its Applications

DOI

2021

Automated cooperative control of multilane freeway merging areas in connected and autonomous vehicle environments

Heng Ding, Yunran Di, Xiaoyan Zheng, Haijian Bai, Weihua Zhang

Transportmetrica B-Transport Dynamics，Vol. 9, No. 1

DOI

2021

基于零反应时间的自动驾驶车辆跟驰模型研究

程陆，柏海舰

《交通科技与经济》

DOI

2021

基于多元高斯模型的跟驰轨迹评价方法研究

高建设，柏海舰

《交通科技与经济》

2021

Dynamic parking charge–perimeter control coupled method for a congested road network based on the aggregation degree characteristics of parking generation distribution

Heng Ding, Yu Qian, Xiaoyan Zheng, Haijian Bai, Shiguang Wang, Jingwen Zhou

Physica A Statistical Mechanics and its Applications

DOI

2020

Perimeter control for congested areas of a large-scale traffic network: A method against state degradation risk

Heng Ding, Jingwen Zhou, Xiaoyan Zheng, Liangyuan Zhu, Haijian Bai, Weihua Zhang

Transportation Research Part C Emerging Technologies

DOI

2020

Integrated Control for a Large-Scale Mixed Network of Arterials and Freeways

Heng Ding, Hanyu Yuan, Xiaoyan Zheng, Haijian Bai, Wenjuan Huang, Chengbing Jiang

IEEE Intelligent Transportation Systems Magazine

DOI

2019

无人车“三阶段”换道轨迹规划过程分析

柏海舰，申剑峰，卫立阳

《合肥工业大学学报(自然科学版)》

2019

The Method of Customized Bus Route Optimization for Passenger Flow Distribution Area

Jianfeng Zhong, Haijian Bai, Zhenyu Wu

CICTP 2019

DOI

2018

Effect of longitudinal slope of urban underpass tunnels on drivers’ heart rate and speed: A study based on a real vehicle experiment

Zhongxiang Feng, Miaomiao Yang, Weihua Zhang, Yingjie Du, Haijian Bai

Tunnelling and Underground Space Technology

DOI

2017

Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

Haijian Bai, Jianfeng Shen, Liyang Wei, Zhongxiang Feng

Journal of Advanced Transportation

DOI

2016

城市路段转向换道流量的理论计算方法

柏海舰，马雪兰，申剑峰，董瑞娟

《交通科技与经济》

2015

Statistical Analysis of Buses Delay for Signalized Control Intersection

Shaoquan Bai, Haijian Bai, Huanping Pang

DOI

2014

Dynamic Optimizing of Bus Average Departure Interval on Network Based on Passenger Flow Information in Time-Space

Haijian Bai, Ruijuan Dong, Kun Wang

DOI

2012

Time-Dividing Method of Bus Passenger Flow Based on Two Dimensional Similarities

Haijian Bai, Ruijuan Dong, Wenquan Li, Weihua Zhang

DOI

2009

Conventional Bus Stop Capacity in Peak

Haijian Bai, Wenquan Li, Ruijuan Dong

DOI

2009

Capacity Model of Low Channeling Roundabout Based on Vehicle Arrival Characteristics

Ruijuan Dong, Weihua Zhang, Haijian Bai

DOI

精选作品

期刊论文

A State-Degradation-Risk-Embedded Sliding Mode Perimeter Control Considering State Transition for Regional Road Networks Under Cyberattacks

A Multiobjective Dynamic Weight Allocation Model for Lane-Level VSL Control Using Deep Reinforcement Learning in Mixed Traffic

Impact of roadside facility layout on network traffic flow in vehicle-infrastructure cooperation environments: An analysis based on macroscopic fundamental diagram model

A Path-Following-Based CAV Motion Planning Framework for Unified Description of Car-Following and Lane-Changing

DGLF-MPF: a destination-guided motion planning framework for autonomous vehicles in lane-free traffic

The revolution of roundabouts in the autonomous driving era: A lane-free self-organized motion planning framework

LM-IDM: A novel multi-lane car-following model considering lateral merging in mixed traffic

A cooperative lane-changing control method for connected and autonomous vehicles in expressway diversion area considering dedicated lanes

基于轨迹重构数据的不同反应时间跟驰模型

基于LSTM的跟驰车辆反应时间预测模型

LFF: An attention allocation-based following behavior framework in lane-free environments

A Sigmoid-Based Car-Following Model to Improve Acceleration Stability in Traffic Oscillation and Following Failure in Free Flow

2D‐Action Asynchronous Cooperative Lane Change Trajectory Planning Method for Connected and Automated Vehicles

基于长短期记忆神经网络与注意力机制的智能汽车分车型跟驰模型

SPATIAL PARTITION FOR HETEROGENEOUS CITY NETWORKS COMPOSED OF FACTORS THAT INFLUENCE THE DISTRIBUTION OF THE MACROSCOPIC FUNDAMENTAL DIAGRAM

Two-Dimensional Following Lane-Changing (2DF-LC): A Framework for Dynamic Decision-Making and Rapid Behavior Planning

A Superposition Assessment Framework of Multi-Source Traffic Risks for Mega-Events Using Risk Field Model and Time-Series Generative Adversarial Networks

A Safety Control Method of Car-Following Trajectory Planning Based on LSTM

Modeling differential car-following behavior under normal and rainy conditions: A memory-based deep learning method with attention mechanism

Integrated Control for Mixed CAV and CV Traffic Flow in Expressway Merge Zones Combined with Variable Speed Limit, Ramp Metering, and Lane Changing

Micro-Path Planning for Lane-Changing Return of Autonomous Vehicles

Dynamic dispatch of connected taxis for large-scale urban road networks with stochastic demands: An MFD-enabled hierarchical and cooperative approach

Driving strategy of connected and autonomous vehicles based on multiple preceding vehicles state estimation in mixed vehicular traffic

Automated cooperative control of multilane freeway merging areas in connected and autonomous vehicle environments

基于零反应时间的自动驾驶车辆跟驰模型研究

基于多元高斯模型的跟驰轨迹评价方法研究

Dynamic parking charge–perimeter control coupled method for a congested road network based on the aggregation degree characteristics of parking generation distribution

Perimeter control for congested areas of a large-scale traffic network: A method against state degradation risk

Integrated Control for a Large-Scale Mixed Network of Arterials and Freeways

无人车“三阶段”换道轨迹规划过程分析

The Method of Customized Bus Route Optimization for Passenger Flow Distribution Area

Effect of longitudinal slope of urban underpass tunnels on drivers’ heart rate and speed: A study based on a real vehicle experiment

Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

城市路段转向换道流量的理论计算方法

Statistical Analysis of Buses Delay for Signalized Control Intersection

Dynamic Optimizing of Bus Average Departure Interval on Network Based on Passenger Flow Information in Time-Space

Time-Dividing Method of Bus Passenger Flow Based on Two Dimensional Similarities

Conventional Bus Stop Capacity in Peak

Capacity Model of Low Channeling Roundabout Based on Vehicle Arrival Characteristics

预印本

A Novel Lane-Level Vsl Control Based on Deep Reinforcement Learning for Expressway Weaving Areas: Dynamic Multi-Objective Adjustment of Traffic Efficiency, Safety and Environmental Benefits

研究方向